Motion Analysis of Hexapod Robot with Eccentric Wheels

A hexapod robot is a robot that has six legs to walk or move. It is well known that a robot can be statically stable on three or more legs. Since a hexapod robot has several legs, it has a great deal of flexibility in how it can move. If some legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot’s legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload. Also, the robot is easily programmed to move around because it can be configured to many types of gaits. There are various designs of hexapod robots with certain functions and advantages. For instance, hexapod robots have been sketched in eight different designs, and every design has its different criteria, specifications, shapes, advantages and disadvantages [1].